From 5c2c9509de71d2e88cf154278bb8f4e172769543 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 14 Aug 2023 15:30:14 +1200 Subject: [PATCH 1/2] kakuteh7: use EKF2 by default Signed-off-by: Julian Oes --- boards/holybro/kakuteh7/init/rc.board_defaults | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/boards/holybro/kakuteh7/init/rc.board_defaults b/boards/holybro/kakuteh7/init/rc.board_defaults index 413b2e6ff632..47dea71be617 100644 --- a/boards/holybro/kakuteh7/init/rc.board_defaults +++ b/boards/holybro/kakuteh7/init/rc.board_defaults @@ -22,12 +22,10 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_W_ACC 0.4 -param set-default ATT_W_GYRO_BIAS 0 - +# use EKF2 without mag param set-default SYS_HAS_MAG 0 +# and enable gravity fusion +param set-default EKF2_IMU_CONTROL 7 # the startup tune is not great on a binary output buzzer, so disable it param set-default CBRK_BUZZER 782090 From d2dd52c5d011ca78ab8b7794586d0acf22afbbf2 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 21 Aug 2023 09:47:43 +1200 Subject: [PATCH 2/2] kakute: disable some EKF2 features To save flash. Signed-off-by: Julian Oes --- boards/holybro/kakuteh7/default.px4board | 6 ++++++ boards/holybro/kakuteh7mini/default.px4board | 6 ++++++ boards/holybro/kakuteh7v2/default.px4board | 6 ++++++ 3 files changed, 18 insertions(+) diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index 713c736d5066..a9f38ba78c98 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board index b019b753f90f..3310e79fbb6a 100644 --- a/boards/holybro/kakuteh7mini/default.px4board +++ b/boards/holybro/kakuteh7mini/default.px4board @@ -32,6 +32,12 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board index d326a787978c..9c060d844224 100644 --- a/boards/holybro/kakuteh7v2/default.px4board +++ b/boards/holybro/kakuteh7v2/default.px4board @@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUXVEL is not set +# CONFIG_EKF2_BARO_COMPENSATION is not set +# CONFIG_EKF2_DRAG_FUSION is not set +# CONFIG_EKF2_EXTERNAL_VISION is not set +# CONFIG_EKF2_GNSS_YAW is not set +# CONFIG_EKF2_SIDESLIP is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y